• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.144-151
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• 2017

An important characteristic of people with partially impaired walking ability, such as incomplete paraplegics, is that they are able to generate voluntary motion of lower-limbs. Therefore, wearable robots for the incomplete paraplegic patients require a different assistance method compared to those of complete paraplegics. First, the wearable robot should be controlled to not resist wearer's motion. Second, it should be able to generate assistive torque accurately when needed. In this paper, a wearable robot, called EROWA, for the incomplete paraplegic patients is introduced. EROWA utilizes compact rotary series elastic actuators (cRSEAs) and a control method called the zero impedance control to reduce the mechanical resistance. An assistive torque trajectory is proposed to assist gait in this paper. The proposed method is verified by simulation and experimental studies.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.8
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• pp.771-782
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• 2017

This paper describes the development of a wearable robot to assist ankle power for the elderly. Previously developed wearable robots have generally used motors and gears to assist muscle power during walking. However, the combination of motor and reduction gear is heavy and has limitations on the simultaneous control of stiffness and torque due to the friction of the gear reducer unlike human muscles. Therefore, in this study, Mckibben pneumatic muscle, which is lighter, safer, and more powerful than an electric motor with gear, was used to assist ankle joint. Antagonistic actuation using a pair of pneumatic muscles assisted the power of the soleus muscles and tibialis anterior muscles used for the pitching motion of the ankle joint, and the model parameters of the antagonistic actuator were experimentally derived using a muscle test platform. To recognize the wearer's walking intention, foot load and ankle torque were calculated by measuring the pressure and the center of pressure of the foot using force and linear displacement sensors, and the stiffness and the torque of the pneumatic muscle joint were then controlled by the calculated ankle torque and foot load. Finally, the performance of the developed ankle power assistive robot was experimentally verified by measuring EMG signals during walking experiments on a treadmill.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.3
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• pp.309-315
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• 2015

This paper presents a lower-limb exoskeleton testbed and its control method. An exoskeleton is a wearable robotic system that can enhance wearer's muscle power or assist human's movements. Among a variety of its applications, especially for military purpose, a wearable robot can be very useful for carrying heavy loads during locomotion by augmenting soldiers' mobility and endurance. The locomotion test on a treadmill was performed up to maximum 4km/h walking speed wearing the lower-limb exoskeleton testbed with a 45kg backpack load.

• Journal of the Korean Society of Physical Medicine
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• v.3 no.2
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• pp.113-119
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• 2008

Purpose : In this case report, we demonstrated the improvement of gait ability on the child who has mental retardation with incomplete gait pattern. Methods : The subject was a 4 years old boy with mental retardation. We applied the Bobath approach to the subject. Treatments included to facilitate trunk alignment and stability, and to train weight bearing and shifting, to facilitate pelvis posterior-anterior movement, and to train walk especially stance phase and assist up-down stairs locomotion in environment similar to actual daily life. It was performed 24 sessions for 12 weeks. Results : With this treatment, he could accomplish dynamic standing stability and he could independent walk at the out door after 12 weeks. In gross motor function measure(GMFM), total motor function was improved to 85.6% from 75.7%. Conclusion : The gait ability of child with mental retardation was improved by using the bobath approach.

• Journal of Korean Institute of Industrial Engineers
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• v.17 no.2
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• pp.39-50
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• 1991

The movement of human beings - walking, running, jumping and climbing, etc. - have long been of scientific interest. In particular, the science of human walking is called gait analysis. Various instruments have been developed to assist in the study of human gait. Recently gait analysis techniques are used in medical research to investigate the abnormalities of pathological gait. In this study, we constructed a comprehensive gait analysis system consisting of a walkway, a force platform, foot-switches and an ExpertVision motion analysis system. Time-distance gait parameters and vector diagrams can be analyzed by a special application program called Force Analysis System(FOANAS). Using quantitative discrimination of this system, the gait characteristic parameters of normal and pathological gait is facilitated.

• Science of Emotion and Sensibility
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• v.13 no.3
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• pp.441-448
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• 2010

In the aging society, the walking assist robot is a necessary device for being able to help the older and the lower limb disabled people to walk. In order to produce a convenient robot for the older and the lower limb disabled, it is needed for the research to detect the implicit walking intention and to control robot by a user's intention. This study is a previous study to develop the detection model of the walking intention and analyze the user's walking intention while a person is walking with Lofstrand crutches, by the combination of FSR and tilt signals. The FSR sensors attached user's the palm and the soles of foot are sensing force/pressure signals from these areas and are used for detecting the walking intention and states. The tilt sensor acquires roll and pitch signal from area of vertebrae lumbales and reflects the pose of the upper limb. We can recognize the user's walking intention such as 'start walking', 'start of right or left foot forward', and 'stop walking' by the combination of FSR and tilt signals can recognize.

• Journal of Korean Academy of Rural Health Nursing
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• v.18 no.2
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• pp.99-105
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• 2023

Purpose: This study aims to develop a shared forest walking program and verify its effects on self-esteem, life satisfaction, and depression among older adults living alone in rural communities. Methods: Participants were assigned to an experimental or a control group, with 20 participants each. Data collected during August 1~3, 2022, before the program, and October 29~31, 2022, after the program. In this study, the shared forest walking program was conducted twice a week for a total of 24 sessions, with each session lasting one hour. All data were analyzed using SPSS version 18.0, x² tests, and t-tests. Results: The experimental group participating in the sharing forest walking program showed higher self-esteem and life satisfaction than the control group, along with a decrease in depression. Additionally, there were statistically significant differences in self-esteem (t=5.97, p<.001), life satisfaction (t=7.78, p<.001), and depression (t=-7.58, p<.001). Conclusion: The shared forest walking program, developed based on the results of this study, improved self-esteem and; life satisfaction; and reduced depression among older adults living alone in rural communities. We propose the development of a continuous program to assist older adults living alone in underprivileged rural areas to experience retirement with reduced depression, increased self-esteem, and enhanced life satisfaction.

• Journal of The Korean Society of Integrative Medicine
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• v.11 no.2
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• pp.221-230
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• 2023

Purpose : This study was performed to evaluate the effects of virtual reality combined robot assist gait training (VRG) on improvement of balance and respiratory function in chronic stroke patients. Methods : A single-blind, randomized controlled trial (RCT) was conducted with 35 chronic stroke patients. They were randomly allocated 2 groups; VRG group (n=18) and conservative treatment group (CG; n=17). The VRG group received 30 minutes robot assisted gait training combined virtual reality training, robot assisted gait training was conducted in parallel using a virtual reality device (2 sessions of 15 minutes in a 3D-recorded walking environment and 15 minutes in a downtown walking environment). In the conservative treatment group, neurodevelopmental therapy and exercise therapy were performed according to the function of stroke patients. Each group performed 30 minutes a day 3 times a week for 8 weeks. The primary outcome balance and respiratory function were measured by a balance measurement system (BioRescue, Marseille, France), Berg balance scale, functional reach test for balance, Spirometry (Cosmed Micro Quark, Cosmed, Italy) for respiratory function Forced vital capacity (FVC), forced expiratory volume in 1 second (FEV₁), and maximum expiratory volume (PEF) were measured according to the protocol. The measurement were performed before and after the 8 weeks intervention period. Results : Both groups demonstrated significant improvement of outcome in balance and respiratory function during intervention period. VRG revealed significant differences in balance and respiratory function as compared to the CG groups (p<.05). Our results showed that VRG was more effective on balance and respiratory function in patients with chronic stroke. Conclusion : Our findings indicate that VRG can improve balance and respiratory function, highlight the benefits of VRG. This study will be able to be used as an intervention data for recovering balance and respiratory function in chronic stroke patients.

• Journal of Korea Game Society
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• v.13 no.3
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• pp.95-104
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• 2013

We have developed a serious game for the elderly named 'Paldokangsan 2' in 2012 as a next version of 'Paldokangsan 1'. 'Paldokangsan 1' was a walking game for two people using controllers of armrests and footboards with PC. 'Paldokangsan 2' had additional purpose to assist cognitive, physical, and psychological functions of the elderly. Especially, walking activity was implemented in a way that a player walks around the old traditional market place in 1970's while remembering and choosing healthy food to buy. We also developed two mini games for the elderly and people with functional disability with the similar purpose as 'Paldokangsan2'. 219 older adults (age$$\geq_-$$ 65) recruited from Asan city community center participated in the study. The result showed that the game play exerted positive effects on memory, concentration and vitality of the elderly.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.3_1spc
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• pp.587-592
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• 2013

Until recently, the primary users of wheelchairs were people with lower body disabilities. However, the number of patients recovering from accidents or surgery, as well as the number of elderly people using wheelchairs, is constantly increasing. This study examined the design and manufacture of standing and gait assist wheelchairs that assist temporary gait disturbed patients to take rehabilitation training and elderly people to engage in walking exercise. A kinematic analysis was used to select a drive motor and design a four-bar linkage mechanism for lifting the backrest vertically. Using a multibody dynamic simulation, detailed design was performed taking into consideration the spatial motion and partial interference, and the necessary push force and stroke of the linear actuator were also calculated. To ensure structural safety, the von-Mises equivalent stresses of the upper and lower brackets of the linear actuator were verified through a finite element analysis. The manufactured wheelchair was shown to operate successfully as intended, using the developed controller for the drive motors and linear actuator.